Resumo

LEMUS-RAMOS, Jorge Luis; HERNANDEZ-SANTANA, Luis E.  e  VALERIANO-MEDINA, Yunier. Inertial Navigation System for an AUV in presence of sea current. EAC [online]. 2018, vol.39, n.2, pp.40-53. ISSN 1815-5928.

An AUV is an underwater vehicle that carries its own power supply and computational units. The HRC-AUV is a prototype develop by “Center for Navy Researching and Development” (CIDNAV) for undersea researching. In this paper is presented the implementation of a navigation system based on the nonlinear dynamical model for the HRC-AUV which allows to estimate sea currents magnitude and direction in the operation environment improving the navigation results. The results are validated through simulation using the 6 degrades of freedom (DOF) nonlinear model obtained for the HRC-AUV and using data sets obtained in experimental sessions directly from the vehicle

Palavras-chave : Autonomous vehicles; Navigation system; navigation; filter.

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